Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 10, Issue 6, Pages 780-792Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2002.804120
Keywords
flight control; nonlinear control; nonminimum phase; path following; planar vertical takeoff and landing (PVTOL); trajectory tracking
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In this paper, we study the problem of tracking control and maneuver regular control for a nonlinear nonminimum, phase control system. First, a tracking controller, consisting of feedforward and static-state feedback, is designed to guarantee uniform asymptotic trajectory tracking. The feedforward is determined by solving a stable noncausal inversion problem. Constant feedback gains are determined based on linear quadratic regulator (LQR) optimization and assumed satisfaction of a robustness inequality. A maneuver regulation controller is obtained from the tracking controller by introducing a suitable state projection that is related to the LQR feedback gains. Properties of the closed loop, including local asymptotic convergence of the transverse errors are described. A multivariable flight control problem is used to demonstrate the approach.
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